NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Collections About News Help Login
Back to Results
On the manipulability of dual cooperative robotsThe definition of manipulability ellipsoids for dual robot systems is given. A suitable kineto-static formulation for dual cooperative robots is adopted which allows for a global task space description of external and internal forces, and relative velocities. The well known concepts of force and velocity manipulability ellipsoids for a single robot are formally extended and the contributions of the two single robots to the cooperative system ellipsoids are illustrated. Duality properties are discussed. A practical case study is developed.
Document ID
19900020497
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Chiacchio, P. (Naples Univ.)
Chiaverini, S. (Naples Univ.)
Sciavicco, L. (Naples Univ.)
Siciliano, B. (Naples Univ.)
Date Acquired
September 6, 2013
Publication Date
January 31, 1989
Publication Information
Publication: JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 3
Subject Category
Man/System Technology And Life Support
Accession Number
90N29813
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

Related Records

There are no records associated with this record.
No Preview Available